Doosan Robotics API Manual Logo
  • 1. Introduction
    • 1.1 Overview
      • 1.1.1 Copyright
      • 1.1.2 History of Document Creation/Revision
    • 1.2 Architecture & Library Structure
      • 1.2.1 API Layer Architecture
        • DRFC.h
        • DRFS.h
        • DRFL.h
        • DRFLEx.h
      • 1.2.2 Composition of Library
      • 1.2.3 Linking Library
        • Linux Library
        • Windows Library
    • 1.3 Environment Setup
      • 1.3.1 System Requirements
        • Windows
        • Linux
      • 1.3.2 DRCF Version Compatibility
      • 1.3.3 Windows Environment (64-bit)
        • A. Install Required dependencies
        • B. Clone the DRFL repository
        • C. Open the provided Visual Studio solution
        • D. Modify solution code for your development environment
        • E. Setup Docker
      • 1.3.4 Linux (Ubuntu) Environment (64-bit)
        • A. Create a workspace
        • B. Clone the DRFL repository
        • C. Launch Simulator (Virtual Mode)
        • D. Build the project
    • 1.4 Realtime External Control
      • 1.4.1 Version
  • 2. Definitions
    • 2.1 Constant Type
      • 2.1.1 Boolean & Debug Constants
      • 2.1.2 Robot Configuration Constants
      • 2.1.3 String Size Constants
      • 2.1.4 I/O Configuration Constants
      • 2.1.5 I/O Configuration Constants (Version 3)
      • 2.1.6 Motion / Configuration Size Limits
      • 2.1.7 Modbus Configuration Constants
      • 2.1.8 Flange & Hardware Utility Macros
    • 2.2 Enumeration Type
      • 2.2.1 System Session
        • ROBOT_STATE
        • ROBOT_CONTROL
        • MONITORING_SPEED
        • SPEED_MODE
        • ROBOT_SYSTEM
        • UPDATE_TARGET
        • RELEASE_MODE
        • ROBOT_MODE
        • SERVO_MODE
      • 2.2.2 Access & Authority
        • MANAGE_ACCESS_CONTROL
        • MONITORING_ACCESS_CONTROL
      • 2.2.3 Program & DRL
        • DRL_PROGRAM_STATE
        • PROGRAM_STOP_CAUSE
        • SUB_PROGRAM
        • VARIABLE_TYPE
        • DATA_TYPE
      • 2.2.4 Motion Basics(Spaces & Axes)
        • ROBOT_SPACE
        • ROBOT_AXIS
        • JOG_AXIS
        • JOINT_AXIS
        • TASK_AXIS
        • COORDINATE_SYSTEM
        • MOVE_REFERENCE
      • 2.2.5 Move Execution Modes/Options
        • MOVE_MODE
        • MOVE_ORIENTATION
        • SPIRAL_DIR
        • ROT_DIR
        • PATH_MODE
        • MOVE_HOME
        • SINGULARITY_AVOIDANCE
        • SINGULARITY_FORCE_HANDLING
        • BLENDING_SPEED_TYPE
        • DR_SERVOJ_TYPE
        • SPLINE_VELOCITY_OPTION
        • MOVEB_BLENDING_TYPE
        • STOP_TYPE
        • DR_MV_APP
        • CONTROL_MODE
      • 2.2.6 Tools/TCP/Payload
        • COG_REFERENCE
        • ADD_UP
      • 2.2.7 Force & Compliance
        • FORCE_AXIS
        • FORCE_MODE
      • 2.2.8 I/O & Modbus & Communication
        • GPIO_CTRLBOX_DIGITAL_INDEX
        • GPIO_CTRLBOX_ANALOG_INDEX
        • GPIO_TOOL_DIGITAL_INDEX
        • GPIO_TOOL_ANALOG_INDEX
        • GPIO_ANALOG_TYPE
        • OUTPUT_TYPE
        • BYTE_SIZE
        • STOP_BITS
        • PARITY_CHECK
        • ENCORDER_POLARITY
        • MODBUS_REGISTER_TYPE
      • 2.2.9 Safety
        • SAFE_STOP_RESET_TYPE
        • SAFETY_MODE
        • SAFETY_STATE
        • SAFETY_FUNC
        • SAFETY_MODE_EVENT
      • 2.2.10 Log & Message
        • MESSAGE_LEVEL
        • POPUP_RESPONSE
        • LOG_LEVEL
        • LOG_GROUP
    • 2.3 Structure
      • 2.3.1 System / Package / License
        • SYSTEM_VERSION
        • SYSTEM_VERSION_EX
        • SYSTEM_TIME
        • SYSTEM_IPADDRESS
        • SYSTEM_POWER
        • SYSTEM_CPUUSAGE
        • SYSTEM_DISKSIZE
        • FLANGE_VERSION
        • SYSTEM_UPDATE_RESPONSE
        • PACKAGE_LOCAL_UPDATE
        • PACKAGE_NETWORK_UPDATE
        • PACKAGE_UNZIP_COMMAND
        • PACKAGE_UNZIP_RESPONSE
        • PACKAGE_RESTORE
        • PACKAGE_RESTORE_LIST
        • SVM_NETWORK_UPDATE
        • LICENSE_TEXT_PARAM
      • 2.3.2 Monitoring & Status
        • ROBOT_MONITORING_JOINT
        • ROBOT_MONITORING_TASK
        • ROBOT_MONITORING_WORLD
        • ROBOT_MONITORING_USER
        • ROBOT_MONITORING_TORQUE
        • ROBOT_MONITORING_STATE
        • ROBOT_MONITORING_DATA
        • ROBOT_MONITORING_DATA_EX
        • MONITORING_MISC
        • MONITORING_DATA
        • MONITORING_FORCECONTROL
        • ROBOT_MONITORING_SENSOR
        • ROBOT_MONITORING_AMODEL
        • MONITORING_FLANGE_IO_CONFIG
        • MONITORING_DATA_EX
        • MONITORING_COCKPIT
        • MONITORING_MODBUS
        • READ_CTRLIO_INPUT
        • READ_CTRLIO_OUTPUT
        • READ_ENCODER_INPUT
        • READ_PROCESS_INPUT
        • READ_CTRLIO_INPUT_EX
        • READ_CTRLIO_INPUT_EX2
        • READ_CTRLIO_OUTPUT_EX
        • READ_CTRLIO_OUTPUT_EX2
        • MONITORING_CTRLIO
        • MONITORING_CTRLIO_EX
        • MONITORING_CTRLIO_EX2
      • 2.3.3 Operation & Feedback (Program / Message / Logs)
        • PROGRAM_SYNTAX_CHECK
        • PROGRAM_EXECUTION_EX
        • PROGRAM_WATCH_VARIABLE
        • PROGRAM_ERROR
        • MESSAGE_PROGRESS
        • MESSAGE_POPUP
        • MESSAGE_INPUT
        • REPORT_TCP_CLIENT
        • LOG_ALARM
        • ROBOT_LED_CONFIG
      • 2.3.4 Coordinates / Tools / TCP / Payload
        • USER_COORDINATE
        • CONFIG_USER_COORDINATE_EX
        • CONFIG_USER_COORDINATE_EX2
        • CONFIG_WORLD_COORDINATE
        • CONFIG_WORLD_COORDINATE_EX
        • USER_COORDINATE_MATRIX_RESPONSE
        • CONFIG_TOOL
        • CONFIG_TOOL_SYMBOL
        • CONFIG_TOOL_LIST
        • CONFIG_TOOL_SHAPE
        • CONFIG_TOOL_SHAPE_SYMBOL
        • CONFIG_TOOL_SHAPE_LIST
        • CONFIG_TCP
        • CONFIG_TCP_SYMBOL
        • CONFIG_TCP_LIST
        • CONFIG_TCP_SYMBOL_EX
        • CONFIG_TCP_LIST_EX
        • CONFIG_PAYLOAD_EX
      • 2.3.5 Kinematics & Robot Model (Pose / Wrenches / Positions / Link Info)
        • ROBOT_POSE
        • ROBOT_TASK_POSE
        • ROBOT_VEL
        • ROBOT_FORCE
        • INVERSE_KINEMATIC_RESPONSE
        • POSITION
        • POSITION_EX
        • POSITION_ADDTO
        • VECTOR3D
        • NORMAL_VECTOR
        • POINT_2D
        • POINT_3D
        • LINE
        • JTS_PARAM_DATA
        • FTS_PARAM_DATA
        • COUNTER_BALANCE_PARAM_DATA
        • CALIBRATION_PARAM_DATA
        • GRAVITY_PARAM_DATA
        • ROBOT_LINK_INFO
      • 2.3.6 Motion Primitives
        • MOVE_POSB
        • MOVE_MOVESINE
        • MOVE_MOVELISSAJOUS
      • 2.3.7 Measurement & Calibration
        • MEASURE_TOOL_RESPONSE
        • MEASURE_TCP
        • MEASURE_TCP_RESPONSE
        • MEASURE_TCP_WELDING
        • MEASURE_FRICTION
        • MEASURE_FRICTION_RESPONSE
        • MEASURE_CONVEYOR_COORD
        • MEASURE_CONVEYOR_COORD_RESPONSE
        • MEASURE_CONVEYOR_DISTANCE_RESPONSE
      • 2.3.8 Encoders / IO & Burst
        • CONFIG_ENCODER_POLARITY
        • CONFIG_ENCODER_MODE
        • GPIO_PORT
        • WRITE_SERIAL_BURST
      • 2.3.9 Industrial Communication (Modbus / Ethernet / Serial)
        • MODBUS_DATA
        • MODBUS_DATA_LIST
        • MODBUS_REGISTER_MONITORING
        • MODBUS_REGISTER
        • MODBUS_MULTI_REGISTER
        • UPDATE_MODBUS_MULTI_REGISTER
        • WRITE_MODBUS_DATA
        • WRITE_MODBUS_MULTI_DATA
        • WRITE_MODBUS_RTU_DATA
        • WRITE_MODBUS_BURST
        • MONITORING_MBUS_SLAVE_COIL
        • MONITORING_MBUS_SLAVE_HOILDING_REGISTER
        • CONFIG_INDUSTRIAL_ETHERNET
        • SETUP_OPERARION_INDUSTRIAL_ETHERNET
        • MONITORING_IE_GPR
        • MONITORING_IE_SLAVE
        • READ_IETHERNET_SLAVE_DATA
        • IETHERNET_SLAVE_DATA_EX
        • IETHERNET_SLAVE_RESPONSE_DATA_EX
        • FLANGE_SERIAL_DATA
        • FLANGE_SER_RXD_INFO
        • FLANGE_SER_RXD_INFO_EX
        • READ_FLANGE_SERIAL
        • READ_FLANGE_SERIAL_EX
        • SERIAL_PORT_NAME
        • SERIAL_SEARCH
      • 2.3.10 Industrial Applications (Conveyor / Welding / Machine Tending)
        • CONVEYOR_BASIC
        • CONFIG_CONVEYOR
        • CONVEYOR_COORD_EX
        • CONVEYOR_DISTANCE
        • MONITOR_CONVEYOR
        • CONVEYOR_OBJECT
        • CONVEYOR_TRACK
        • WELDING_CHANNEL
        • CONFIG_WELDING_INTERFACE
        • CONFIG_WELD_SETTING
        • ADJUST_WELDING_SETTING
        • CONFIG_TRAPEZOID_WEAVING_SETTING
        • CONFIG_ZIGZAG_WEAVING_SETTING
        • CONFIG_CIRCULE_WEAVING_SETTING
        • CONFIG_SINE_WEAVING_SETTING
        • CONFIG_WELDING_DETAIL_INFO
        • CONFIG_ANALOG_WELDING_INTERFACE
        • CONFIG_ANALOG_WELDING_SETTING
        • ANALOG_WELDING_ADJUST_SETTING
        • CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA
        • CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS
        • CONFIG_DIGITAL_WELDING_INTERFACE_MODE
        • CONFIG_DIGITAL_WELDING_INTERFACE_TEST
        • CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION
        • CONFIG_DIGITAL_WELDING_INTERFACE_OPTION
        • CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2
        • CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING
        • CONFIG_DIGITAL_WELDING_INTERFACE_OTHER
        • DIGITAL_WELDING_RESET
        • CONFIG_DIGITAL_WELDING_MODE
        • CONFIG_DIGITAL_WELDING_CONDITION
        • CONFIG_DIGITAL_WELDING_ADJUST
        • TACK_WELDING_SETTING
        • WEAVING_OFFSET
        • CONFIG_WEAVING_SETTING
        • ROBOT_WELDING_DATA
        • ROBOT_ALALOG_WELDING_DATA
        • ROBOT_DIGITAL_WELDING_DATA
        • DIGITAL_WELDING_COMM_STATE
        • MACHINE_TENDING_FOCAS_ERR_STRING
        • MACHINE_TENDING_FOCAS_CONNECT
        • MACHINE_TENDING_FOCAS_DISCONNECT
        • MACHINE_TENDING_FOCAS_PMC_DATA
        • MACHINE_TENDING_FOCAS_PMC
        • MACHINE_TENDING_FOCAS_CNC_PARAM
        • MACHINE_TENDING_RESPONSE_FOCAS_CNC_PARAM
        • MACHINE_TENDING_RESPONSE_FOCAS_PROGRAM_NUMBER
        • FOCAS_IS_ALIVE_RESPONSE
      • 2.3.11 Safety Configuration & Objects
        • JOINT_RANGE
        • CONFIG_JOINT_RANGE
        • GENERAL_RANGE
        • CONFIG_GENERAL_RANGE
        • CONFIG_INSTALL_POSE
        • CONFIG_SAFETY_FUNCTION
        • CONFIG_SAFETY_IO
        • CONFIG_SAFETY_IO_EX
        • CONFIG_SAFETY_IO_OP
        • SAFETY_CONFIGURATION_EX
        • SAFETY_CONFIGURATION_EX2
        • SAFETY_CONFIGURATION_EX2_V3
        • CONFIG_SAFETY_PARAM_ENABLE
        • SAFETY_OBJECT_SPHERE
        • SAFETY_OBJECT_CAPSULE
        • SAFETY_OBJECT_CUBE
        • SAFETY_OBJECT_OBB
        • SAFETY_OBJECT_POLYPRISM
        • SAFETY_OBJECT_DATA
        • SAFETY_OBJECT
      • 2.3.12 Safety Local Rules & Zones
        • LOCAL_ZONE_PROPERTY_JOINT_RANGE
        • LOCAL_ZONE_PROPERTY_JOINT_SPEED
        • LOCAL_ZONE_PROPERTY_TCP_FORCE
        • LOCAL_ZONE_PROPERTY_TCP_POWER
        • LOCAL_ZONE_PROPERTY_TCP_SPEED
        • LOCAL_ZONE_PROPERTY_TCP_MOMENTUM
        • LOCAL_ZONE_PROPERTY_COLLISION
        • LOCAL_ZONE_PROPERTY_SPEED_RATE
        • LOCAL_ZONE_PROPERTY_SPEED_REDUCTION
        • LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE
        • LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE
        • LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION
        • VIRTUAL_FENCE_OBJECT
        • CONFIG_VIRTUAL_FENCE
        • VIRTUAL_FENCE_RESPONSE
        • SAFETY_ZONE_SHAPE_SPHERE
        • SAFETY_ZONE_SHAPE_CYLINDER
        • SAFETY_ZONE_SHAPE_CUBOID
        • SAFETY_ZONE_SHAPE_TILTED_CUBOID
        • SAFETY_ZONE_SHAPE_MULTI_PLANE
        • SAFETY_ZONE_SHAPE_CAPSULE
        • SAFETY_ZONE_SHAPE_DATA
        • SAFETY_ZONE_SHAPE
        • SAFETY_ZONE_PROPERTY_SPACE_LIMIT
        • SAFETY_ZONE_PROPERTY_LOCAL_ZONE
        • SAFETY_ZONE_PROPERTY_DATA
        • CONFIG_PROTECTED_ZONE
        • CONFIG_COLLISION_MUTE_ZONE
        • CONFIG_COLLISION_MUTE_ZONE_PROPERTY
        • SAFETY_TOOL_ORIENTATION_LIMIT
        • CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
        • ENABLE_SAFE_ZONE
        • CONFIG_ADD_SAFETY_ZONE
        • CONFIG_DELETE_SAFETY_ZONE
      • 2.3.13 Access & Remote Control
        • CONFIG_COCKPIT_EX
        • CONFIG_IDLE_OFF
        • CONFIG_NUDGE
        • CONFIG_CONFIGURABLE_IO
        • CONFIG_CONFIGURABLE_IO_EX
        • CONFIG_IO_FUNC
        • CONFIG_REMOTE_CONTROL
      • 2.3.14 Real-time Streams
        • RT_INPUT_DATA_LIST
        • RT_OUTPUT_DATA_LIST
    • 2.4 Callback Function
      • 2.4.1 Core State & Lifecycle
        • TOnMonitoringStateCB
        • TOnProgramStoppedCB
        • TOnHommingCompletedCB
        • TOnTpInitializingCompletedCB
        • TOnMasteringNeedCB
        • TOnDisconnectedCB
        • TOnMonitoringSpeedModeCB
      • 2.4.2 Monitoring Streams
        • TOnMonitoringDataCB
        • TOnMonitoringDataExCB
      • 2.4.3 I/O, Modbus & Communication
        • TOnMonitoringCtrlIOCB
        • TOnMonitoringCtrlIOExCB
        • TOnMonitoringCtrlIOEx2CB
        • TOnMonitoringModbusCB
      • 2.4.4 Safety System & Access Control
        • TOnMonitoringSafetyStateCB
        • TOnMonitoringSafetyStopTypeCB
        • TOnMonitoringRobotSystemCB
        • TOnMonitoringAccessControlCB
      • 2.4.5 Teach Pendant UI & Message
        • TOnTpPopupCB
        • TOnTpLogCB
        • TOnTpGetUserInputCB
        • TOnTpProgressCB
        • TOnLogAlarmCB
      • 2.4.6 Real-Time Stream
        • TOnRTMonitoringDataCB
      • 2.4.7 Welding Data
        • TOnMonitoringWeldingDataCB
        • TOnMonitoringAnalogWeldingDataCB
        • TOnMonitoringDigitalWeldingDataCB
  • 3. Mode
    • 3.1 Common
      • 3.1.1 Connection
        • open_connection
        • close_connection
      • 3.1.2 Mode/State
        • get_system_version
        • get_library_version
        • get_robot_mode
        • set_robot_mode
        • get_robot_state
        • set_robot_control
        • get_control_mode
        • get_robot_system
        • set_robot_system
        • get_robot_speed_mode
        • set_robot_speed_mode
        • manage_access_control
        • system_shut_down
      • 3.1.3 Monitoring/Callbacks
        • set_on_monitoring_state
        • set_on_monitoring_data
        • set_on_monitoring_data_ex
        • set_on_monitoring_ctrl_io
        • set_on_monitoring_ctrl_io_ex
        • set_on_monitoring_modbus
        • set_on_monitoring_speed_mode
        • set_on_monitoring_access_control
        • set_on_monitoring_safety_state
        • set_on_monitoring_robot_system
        • set_on_monitoring_safety_stop_type
        • set_on_log_alarm
        • set_on_program_stopped
        • set_on_homming_completed
        • set_on_tp_initializing_completed
        • set_on_mastering_need
        • set_on_disconnected
        • set_on_tp_popup
        • set_on_tp_get_user_input
        • set_on_tp_progress
        • set_on_tp_log
        • setup_monitoring_version
      • 3.1.4 Program/DRL_Execution
        • get_program_state
        • drl_start
        • drl_stop
        • drl_pause
        • drl_resume
        • change_operation_speed
        • save_sub_program
      • 3.1.5 Motion execution
        • stop
        • move_pause
        • move_resume
        • mwait
        • move_home
        • enable_alter_motion
        • alter_motion
        • disable_alter_motion
        • check_motion
      • 3.1.6 Position
        • get_current_posx
        • get_desired_posx
        • get_current_posj
        • get_desired_posj
        • get_current_tool_flange_posx
        • get_current_pose
        • get_control_space
        • get_current_solution_space
        • get_current_rotm
      • 3.1.7 Kinematics/Math
        • trans
        • ikin
        • ikin (extension)
        • ikin (with iteration threshold)
        • ikin_norm
        • fkin (forward kinematics)
        • addto
        • get_orientation_error
        • get_solution_space
        • coord_transform
        • calc_coord
        • get_robot_link_info
      • 3.1.8 Velocity
        • get_current_velx
        • get_current_velj
        • get_desired_velx
      • 3.1.9 Force/Compliance
        • task_compliance_ctrl
        • set_stiffnessx
        • set_desired_force
        • release_compliance_ctrl
        • release_force
        • check_force_condition
        • check_position_condition_abs
        • check_position_condition_rel
        • check_position_condition
        • check_orientation_condition_abs
        • check_orientation_condition_rel
        • is_done_bolt_tightening
        • get_joint_torque
        • get_external_torque
        • get_tool_force
      • 3.1.10 Tool
        • set_tool
        • get_tool
        • add_tool
        • del_tool
        • set_tool_shape
        • get_tool_shape
      • 3.1.11 Tcp
        • set_tcp
        • get_tcp
        • add_tcp
        • del_tcp
      • 3.1.12 Payload
        • set_workpiece_weight
        • get_workpiece_weight
        • reset_workpiece_weight
      • 3.1.13 Coordinate
        • set_user_cart_coord1
        • set_user_cart_coord2 (3-point method)
        • set_user_cart_coord3 (vector method)
        • get_user_cart_coord
        • overwrite_user_cart_coord
        • set_ref_coord
        • get_user_home
        • set_user_home
      • 3.1.14 I/O
        • set_digital_output
        • get_digital_output
        • get_digital_input
        • set_analog_output
        • get_analog_input
        • set_mode_analog_input
        • set_mode_analog_output
        • set_tool_digital_output
        • get_tool_digital_input
        • get_tool_digital_output
        • get_tool_analog_input
        • set_tool_digital_output_level
        • set_tool_digital_output_type
        • set_mode_tool_analog_input
        • set_output_register_bit
        • set_output_register_int
        • set_output_register_float
        • get_output_register_bit
        • get_output_register_int
        • get_output_register_float
        • get_input_register_bit
        • get_input_register_int
        • get_input_register_float
      • 3.1.15 Modbus
        • add_modbus_signal
        • del_modbus_signal
        • set_modbus_output
        • get_modbus_input
        • query_modbus_data_list
      • 3.1.16 Serial(Flange)
        • flange_serial_open
        • flange_serial_close
        • flange_serial_write
        • flange_serial_read
      • 3.1.17 TP
        • tp_popup_response
        • tp_get_user_input_response
        • config_program_watch_variable
      • 3.1.18 Report alarm
        • get_last_alarm
      • 3.1.19 LED
        • state_led_reset
        • set_state_led_off
        • set_state_led_color
        • get_state_led_rule
      • 3.1.20 Safety(Configuration parameter)
        • change_collision_sensitivity
        • set_palletizing_mode
        • set_auto_safety_move_stop
        • release_protective_stop
        • get_safety_configuration_ex (DRCF v2)
        • get_safety_configuration_ex_v3 (DRCF v3)
      • 3.1.21 Safety(State/Mode)
        • set_safety_mode
        • set_safe_stop_reset_type
      • 3.1.22 Servo Power
        • servo_off
        • set_auto_servo_off
      • 3.1.23 Hold to Run (H2R)
        • hold2run
        • jog_h2r
        • movej_h2r
        • movel_h2r
    • 3.2 Manual Mode
      • 3.2.1 Jogging & Motion Control
        • jog (Manual Mode)
        • multi_jog (Manual Mode)
        • stop (Manual Mode)
        • move_pause (Manual Mode)
        • move_resume (Manual Mode)
        • mwait (Manual Mode)
        • get_current_posx (Manual Mode)
        • get_current_posj (Manual Mode)
        • get_current_velx (Manual Mode)
        • get_current_velj (Manual Mode)
        • get_control_mode (Manual Mode)
        • get_robot_mode (Manual Mode)
        • get_robot_state (Manual Mode)
        • enable_alter_motion (Manual Mode)
        • alter_motion (Manual Mode)
        • disable_alter_motion (Manual Mode)
      • 3.2.2 Coordinate Teaching
        • set_user_cart_coord (1-point, Manual Mode)
        • set_user_cart_coord (3-point, Manual Mode)
        • set_user_cart_coord (2-vector, Manual Mode)
        • overwrite_user_cart_coord (Manual Mode)
        • get_user_cart_coord (Manual Mode)
        • set_ref_coord (Manual Mode)
        • coord_transform (Manual Mode)
        • calc_coord (Manual Mode)
        • set_user_home (Manual Mode)
        • get_user_home (Manual Mode)
        • get_current_tool_flange_posx (Manual Mode)
        • trans (Manual Mode)
        • fkin (Manual Mode)
        • ikin (Manual Mode)
        • get_orientation_error (Manual Mode)
        • get_current_rotm (Manual Mode)
      • 3.2.3 I/O Communication & Feedback
        • set_tool_digital_output (Manual Mode)
        • get_tool_digital_input (Manual Mode)
        • get_tool_digital_output (Manual Mode)
        • get_tool_analog_input (Manual Mode)
        • set_mode_tool_analog_input (Manual Mode)
        • set_tool_digital_output_level (Manual Mode)
        • set_tool_digital_output_type (Manual Mode)
        • set_digital_output (Manual Mode)
        • set_digital_output_ex (Manual Mode)
        • get_digital_input (Manual Mode)
        • get_digital_input_ex (Manual Mode)
        • get_digital_output (Manual Mode)
        • get_digital_output_ex (Manual Mode)
        • set_analog_output (Manual Mode)
        • get_analog_input (Manual Mode)
        • get_analog_input_ex (Manual Mode)
        • set_mode_analog_input (Manual Mode)
        • set_mode_analog_output (Manual Mode)
        • add_modbus_signal (Manual Mode)
        • del_modbus_signal (Manual Mode)
        • get_modbus_input (Manual Mode)
        • set_modbus_output (Manual Mode)
        • query_modbus_data_list (Manual Mode)
        • flange_serial_open (Manual Mode)
        • flange_serial_close (Manual Mode)
        • flange_serial_write (Manual Mode)
        • flange_serial_read (Manual Mode)
        • set_on_monitoring_ctrl_io_ex (Manual Mode)
        • set_on_monitoring_ctrl_io_ex2 (Manual Mode)
        • set_on_monitoring_modbus (Manual Mode)
      • 3.2.4 Safety & Servo Operations
        • set_robot_mode (Manual Mode)
        • set_robot_system (Manual Mode)
        • set_robot_speed_mode (Manual Mode)
        • servo_off (Manual Mode)
        • set_auto_servo_off (Manual Mode)
        • set_auto_safety_move_stop (Manual Mode)
        • change_collision_sensitivity (Manual Mode)
        • set_safety_mode (Manual Mode)
        • set_safe_stop_reset_type (Manual Mode)
        • release_protective_stop (Manual Mode)
        • manage_access_control (Manual Mode)
        • get_robot_system (Manual Mode)
        • get_robot_speed_mode (Manual Mode)
        • get_last_alarm (Manual Mode)
        • get_safety_configuration_ex2 (Manual Mode)
        • get_safety_configuration_ex2_v3 (Manual Mode)
        • check_motion (Manual Mode)
        • set_on_monitoring_safety_state (Manual Mode)
        • set_on_monitoring_safety_stop_type (Manual Mode)
      • 3.2.5 Force Control & Compliance Tuning
        • task_compliance_ctrl (Manual Mode)
        • set_stiffnessx (Manual Mode)
        • set_desired_force (Manual Mode)
        • release_compliance_ctrl (Manual Mode)
        • release_force (Manual Mode)
        • check_force_condition (Manual Mode)
        • check_position_condition_abs (Manual Mode)
        • check_position_condition_rel (Manual Mode)
        • check_position_condition (Manual Mode)
        • check_orientation_condition_abs (Manual Mode)
        • check_orientation_condition_rel (Manual Mode)
        • is_done_bolt_tightening (Manual Mode)
        • get_tool_force (Manual Mode)
        • get_external_torque (Manual Mode)
        • get_joint_torque (Manual Mode)
      • 3.2.6 TP Interaction
        • set_on_tp_popup (Manual Mode)
        • set_on_tp_get_user_input (Manual Mode)
        • tp_popup_response (Manual Mode)
        • tp_get_user_input_response (Manual Mode)
        • set_state_led_color (Manual Mode)
        • state_led_reset (Manual Mode)
        • set_state_led_off (Manual Mode)
        • get_state_led_rule (Manual Mode)
      • 3.2.7 TP Logging & Lifecycle
        • set_on_tp_progress (Manual Mode)
        • set_on_tp_log (Manual Mode)
        • set_on_tp_initializing_completed (Manual Mode)
        • set_on_program_stopped (Manual Mode)
      • 3.2.8 Watch Variables
        • config_program_watch_variable (Manual Mode)
    • 3.3 Auto Mode
      • 3.3.1 DRL Program Control
        • drl_start (Auto Mode)
        • drl_stop (Auto Mode)
        • drl_pause (Auto Mode)
        • drl_resume (Auto Mode)
        • change_operation_speed (Auto Mode)
        • get_program_state (Auto Mode)
        • get_last_alarm (Auto Mode)
      • 3.3.2 Motion Primitives-Basic Trajectory
        • movej (Auto Mode)
        • movel (Auto Mode)
        • movec (Auto Mode)
        • moveb (Auto Mode)
        • amovej (Auto Mode)
        • amovel (Auto Mode)
        • amovec (Auto Mode)
        • amoveb (Auto Mode)
      • 3.3.3 Motion Primitives-Advanced/Blending/Special Trajectories
        • movejx (Auto Mode)
        • movesj (Auto Mode)
        • movesx (Auto Mode)
        • amovejx (Auto Mode)
        • amovesj (Auto Mode)
        • amovesx (Auto Mode)
        • move_spiral (Auto Mode)
        • amove_spiral (Auto Mode)
        • move_periodic (Auto Mode)
        • amove_periodic (Auto Mode)
      • 3.3.4 Motion Control Utilities
        • stop (Auto Mode)
        • move_pause (Auto Mode)
        • move_resume (Auto Mode)
        • mwait (Auto Mode)
        • check_motion (Auto Mode)
        • set_singularity_handling (Auto Mode)
        • set_singular_handling_force (Auto Mode)
      • 3.3.5 Home & Recovery Operations
        • move_home (Auto Mode)
        • set_user_home (Auto Mode)
        • get_user_home (Auto Mode)
      • 3.3.6 Force & Compliance Control
        • task_compliance_ctrl (Auto Mode)
        • set_desired_force (Auto Mode)
        • set_stiffnessx (Auto Mode)
        • release_force (Auto Mode)
        • release_compliance_ctrl (Auto Mode)
        • check_force_condition (Auto Mode)
        • check_position_condition (Auto Mode)
        • check_position_condition_abs (Auto Mode)
        • check_position_condition_rel (Auto Mode)
        • check_orientation_condition_abs (Auto Mode)
        • check_orientation_condition_rel (Auto Mode)
        • is_done_bolt_tightening (Auto Mode)
      • 3.3.7 Velocity & Servo Following
        • speedj (Auto Mode)
        • speedl (Auto Mode)
        • servoj (Auto Mode)
        • servol (Auto Mode)
        • servoj_g (Auto Mode)
        • servol_g (Auto Mode)
        • movesj_g (Auto Mode)
        • movesx_g (Auto Mode)
      • 3.3.8 Tools / TCP / Payload
        • set_workpiece_weight (Auto Mode)
        • get_workpiece_weight (Auto Mode)
        • reset_workpiece_weight (Auto Mode)
        • set_tool (Auto Mode)
        • add_tool (Auto Mode)
        • del_tool (Auto Mode)
        • get_tool (Auto Mode)
        • set_tcp (Auto Mode)
        • add_tcp (Auto Mode)
        • del_tcp (Auto Mode)
        • get_tcp (Auto Mode)
        • set_tool_shape (Auto Mode)
        • get_tool_shape (Auto Mode)
      • 3.3.9 GPIO / Modbus / Flange Serial
        • set_digital_output (Auto Mode)
        • get_digital_input (Auto Mode)
        • set_analog_output (Auto Mode)
        • get_analog_input (Auto Mode)
        • set_modbus_output (Auto Mode)
        • get_modbus_input (Auto Mode)
        • add_modbus_signal (Auto Mode)
        • del_modbus_signal (Auto Mode)
        • flange_serial_open (Auto Mode)
        • flange_serial_close (Auto Mode)
        • flange_serial_write (Auto Mode)
        • flange_serial_read (Auto Mode)
    • 3.4 RT Stream
      • 3.4.1 Realtime Instance Create/Destroy
        • create_robot_control_udp
        • destroy_robot_control_udp
      • 3.4.2 Realtime Session Lifecycle
        • connect_rt_control
        • start_rt_control
        • stop_rt_control
        • disconnect_rt_control
      • 3.4.3 Realtime Stream Schema & Version Negotiation
        • get_rt_control_input_version_list
        • get_rt_control_output_version_list
        • get_rt_control_input_data_list
        • get_rt_control_output_data_list
        • set_rt_control_input
        • set_rt_control_output
      • 3.4.4 Realtime Data Stream I/O
        • read_data_rt
        • write_data_rt
      • 3.4.5 Realtime Command (High-Frequency Control)
        • set_velj_rt
        • set_accj_rt
        • set_velx_rt
        • set_accx_rt
        • speedj_rt
        • speedl_rt
        • servoj_rt
        • servol_rt
        • torque_rt
      • 3.4.6 Realtime Diagnostics & Callbacks
        • set_on_rt_monitoring_data
        • set_on_rt_log_alarm
  • 4. Applications Extensions
    • 4.1 Welding Application
      • 4.1.1 Weave Path Configuration
        • app_weld_weave_cond_trapezoidal
        • app_weld_weave_cond_zigzag
        • app_weld_weave_cond_circular
        • app_weld_weave_cond_sinusoidal
      • 4.1.2 Analog Welding Interface Path
        • app_weld_enable_analog
        • app_weld_set_weld_cond_analog
        • app_weld_adj_welding_cond_analog
      • 4.1.3 Digital/Ethernet-ip Interface
        • app_weld_set_interface_eip_r2m_process
        • app_weld_set_interface_eip_r2m_mode
        • app_weld_set_interface_eip_r2m_test
        • app_weld_set_interface_eip_r2m_condition
        • app_weld_set_interface_eip_r2m_option
        • app_weld_set_interface_eip_m2r_process2
        • app_weld_set_interface_eip_m2r_monitoring
        • app_weld_set_interface_eip_m2r_other
        • app_weld_enable_digital
        • app_weld_disable_digital
        • app_weld_set_weld_cond_digital
        • app_weld_adj_welding_cond_digital
        • app_weld_reset_interface
      • 4.1.4 Monitoring & Signal Control
        • set_on_monitoring_welding_data
        • set_on_monitoring_analog_welding_data
        • set_on_monitoring_digital_welding_data
        • set_digital_welding_signal_output
        • set_digital_welding_monitoring_mode
      • 4.1.5 Calibration & Measurement
        • measure_welding_tcp
        • set_welding_cockpit_setting
        • set_welding_cockpit_setting_time_setting
      • 4.1.6 Motion Assistance
        • app_weld_adj_motion_offset
  • 5. Programming Instructions
    • 5.1 Robot Connection/Release
    • 5.2 Robot Initialization
    • 5.3 Management of Control Right
    • 5.4 Robot Operation Mode
    • 5.5 Robot Operation State
    • 5.6 Robot state transition
    • 5.7 Program Execution and Shutdown
    • 5.8 Limits on Robot Safety Setting Function
  • 6. Tutorials
    • 6.1 Operation Modes
      • 6.1.1 Virtual Mode
      • 6.1.2 Real Mode
    • 6.2 Basic Tutorials
      • Connection & Callback Registration
      • Access Control & ServoOn
      • Jog & Home
      • MoveJ / MoveL (Sync / Async)
      • DRL Mini Loop (Start / Stop)
      • I/O Basics (Control Box DO)
    • 6.3 Advanced Tutorials
      • Unified Stop / Pause / Resume
      • Safety Stop & Recovery
      • Alarm & Access Loss Handling
      • Monitoring & Logging
      • Custom Trajectory Planning
      • Servo Off & Reconnection
    • 6.4 Application Tutorials
      • 6.4.1 Welding Tutorials
        • Analog Welding Control
        • Digital Welding Control (EtherNet/IP)
        • Weaving Patterns
        • Real-time Parameter Adjustment
        • Welding TCP Calibration
        • Monitoring & Signal Output
    • 6.5 RT Tutorials
      • RT Connection Setup
      • RT Output Configuration
      • Start / Stop RT Control
      • RT Data Monitoring
      • Speed / Torque Commands (Extension)
      • Unified Safety Handling
    • 6.6 Scenario-based Examples
      • 6.6.1 minimal_motion_sample.cpp
        • Setup & Connection
        • Access Control & State monitoring
        • Connection & Version Information
        • Access control & STANDBY
        • Robot Mode Confiuguration
        • Motion Execution
      • 6.6.2 minimal_rt_monitoring_sample.cpp
        • Overview & Global Configuration
        • Realtime Connection Setup
        • RT Monitoring Callback
        • RT Output
        • Start & Stop RT Monitoring
      • 6.6.3 send_drl_script_sample.cpp
        • Setup & Connection
        • Access Control & State Monitoring Callback
        • Connection & Version Information
        • Access Control & StandBy
        • Robot Mode Configuration
        • DRL Script Definition & Execution
        • Program Control (Pause / Resume / Stop)
      • 6.6.4 minimal_welding_sample.cpp
        • Setup & Global Variables
        • Main Loop
        • Callback Registration
        • Connection to Controller
        • Control Authority & Servo On Handling
        • Robot Mode & System Configuration
        • DRL-based Welding Script
        • C++-based Welding Interface Configuration
      • 6.6.5 minimal_instruction_sample.cpp
        • Setup & Global Variables
        • Keyboard Menu & Main loop
        • Callback Registration
        • Connection to Controller
        • Control Authority Handling
        • Servo On & Monitoring Version
        • Robot Mode & System Configuration
        • Joint Motion Execution
        • Kinematics Test
        • DRL Script Execution
        • Xenomai / Real-time Environment Notes
      • 6.6.6. realtime_control_sample.cpp
        • Setup & Global Variables
        • Callback Registration
        • Connection & Version Information
        • Control Authority & Servo On
        • Robot Mode Configuration
        • RT Session Activation
        • Stop / Pause / Resume
        • Quintic Trajectory Planning
        • Realtime RT Loop
        • Stopping RT Control
  • 7. Troubleshooting
    • 7.1 Connection Refused (API Link Error)
      • A. Error Case
      • B. Root Cause Analysis
      • C. Solution
    • 7.2 Access Control Loss
      • A. Error Case
      • B. Root Cause Analysis
      • C. Solution
    • 7.3 Build Error: Poco Not Found
      • A. Error Case
      • B. Root Cause Analysis
      • C. Solution
Doosan Robotics API Manual
  • 3. Mode
  • 3.1 Common
  • 3.1.14 I/O
  • View page source

3.1.14 I/O

  • set_digital_output
  • get_digital_output
  • get_digital_input
  • set_analog_output
  • get_analog_input
  • set_mode_analog_input
  • set_mode_analog_output
  • set_tool_digital_output
  • get_tool_digital_input
  • get_tool_digital_output
  • get_tool_analog_input
  • set_tool_digital_output_level
  • set_tool_digital_output_type
  • set_mode_tool_analog_input
  • set_output_register_bit
  • set_output_register_int
  • set_output_register_float
  • get_output_register_bit
  • get_output_register_int
  • get_output_register_float
  • get_input_register_bit
  • get_input_register_int
  • get_input_register_float
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1.33.2
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